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<div class="title">robot_interfaces::RobotBackend&lt; Action, Observation &gt; Class Template Reference</div>  </div>
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<p>Communication link between <a class="el" href="classrobot__interfaces_1_1RobotDriver.html" title="Driver for interfacing the actual robot hardware or simulation. ">RobotDriver</a> and <a class="el" href="classrobot__interfaces_1_1RobotData.html" title="Contains all the input and output data of the robot. ">RobotData</a>.  
 <a href="classrobot__interfaces_1_1RobotBackend.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="robot__backend_8hpp_source.html">robot_backend.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Status</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a3120d5df6b7b64fa9bbcf229cf172a39"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrobot__interfaces_1_1RobotBackend.html#a3120d5df6b7b64fa9bbcf229cf172a39">RobotBackend</a> (std::shared_ptr&lt; <a class="el" href="classrobot__interfaces_1_1RobotDriver.html">RobotDriver</a>&lt; Action, Observation &gt;&gt; robot_driver, std::shared_ptr&lt; <a class="el" href="classrobot__interfaces_1_1RobotData.html">RobotData</a>&lt; Action, Observation, <a class="el" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Status</a> &gt;&gt; robot_data, const double max_action_duration_s, const double max_inter_action_duration_s)</td></tr>
<tr class="separator:a3120d5df6b7b64fa9bbcf229cf172a39"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae354dfd960d4fd0d2f9242dcfb4a701f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae354dfd960d4fd0d2f9242dcfb4a701f"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><b>get_max_action_repetitions</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>set_max_action_repetitions</b> (const uint32_t &amp;max_action_repetitions)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>initialize</b> ()</td></tr>
<tr class="separator:a7e4eb9f5362b79c0c21b824e3b639ae6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename Action, typename Observation&gt;<br />
class robot_interfaces::RobotBackend&lt; Action, Observation &gt;</h3>

<p>Communication link between <a class="el" href="classrobot__interfaces_1_1RobotDriver.html" title="Driver for interfacing the actual robot hardware or simulation. ">RobotDriver</a> and <a class="el" href="classrobot__interfaces_1_1RobotData.html" title="Contains all the input and output data of the robot. ">RobotData</a>. </p>
<p>At each time-step, it gets the observation from the <a class="el" href="classrobot__interfaces_1_1RobotDriver.html" title="Driver for interfacing the actual robot hardware or simulation. ">RobotDriver</a> and writes it to <a class="el" href="classrobot__interfaces_1_1RobotData.html" title="Contains all the input and output data of the robot. ">RobotData</a>, and it takes the desired_action from <a class="el" href="classrobot__interfaces_1_1RobotData.html" title="Contains all the input and output data of the robot. ">RobotData</a> and applies it on the <a class="el" href="classrobot__interfaces_1_1RobotDriver.html" title="Driver for interfacing the actual robot hardware or simulation. ">RobotDriver</a>.</p>
<dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">Action</td><td></td></tr>
    <tr><td class="paramname">Observation</td><td></td></tr>
  </table>
  </dd>
</dl>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a3120d5df6b7b64fa9bbcf229cf172a39"></a>
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template&lt;typename Action , typename Observation &gt; </div>
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      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classrobot__interfaces_1_1RobotBackend.html">robot_interfaces::RobotBackend</a>&lt; Action, Observation &gt;::<a class="el" href="classrobot__interfaces_1_1RobotBackend.html">RobotBackend</a> </td>
          <td>(</td>
          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classrobot__interfaces_1_1RobotDriver.html">RobotDriver</a>&lt; Action, Observation &gt;&gt;&#160;</td>
          <td class="paramname"><em>robot_driver</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classrobot__interfaces_1_1RobotData.html">RobotData</a>&lt; Action, Observation, <a class="el" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Status</a> &gt;&gt;&#160;</td>
          <td class="paramname"><em>robot_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_action_duration_s</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_inter_action_duration_s</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</div><div class="memdoc">
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">robot_driver</td><td>Driver instance for the actual robot. This is internally wrapped in a <a class="el" href="classrobot__interfaces_1_1MonitoredRobotDriver.html" title="Wrapper for RobotDriver that monitors timing. ">MonitoredRobotDriver</a> for increased safety. </td></tr>
    <tr><td class="paramname">robot_data</td><td>Data is send to/retrieved from here. </td></tr>
    <tr><td class="paramname">max_action_duration_s</td><td>See <a class="el" href="classrobot__interfaces_1_1MonitoredRobotDriver.html" title="Wrapper for RobotDriver that monitors timing. ">MonitoredRobotDriver</a>. </td></tr>
    <tr><td class="paramname">max_inter_action_duration_s</td><td>See <a class="el" href="classrobot__interfaces_1_1MonitoredRobotDriver.html" title="Wrapper for RobotDriver that monitors timing. ">MonitoredRobotDriver</a>. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/robots/robot_interfaces/include/robot_interfaces/<a class="el" href="robot__backend_8hpp_source.html">robot_backend.hpp</a></li>
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